<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Doxygen: filters/include/pcl/filters/impl/plane_clipper3D.hpp 源文件</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Doxygen
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('plane__clipper3_d_8hpp_source.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="headertitle">
<div class="title">plane_clipper3D.hpp</div>  </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2009, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; </div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#ifndef PCL_FILTERS_IMPL_PLANE_CLIPPER3D_HPP</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#define PCL_FILTERS_IMPL_PLANE_CLIPPER3D_HPP</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/plane_clipper3D.h&gt;</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="classpcl_1_1_plane_clipper3_d.html#ab9550462630a027be9fb42fc250766ab">   41</a></span>&#160;<a class="code" href="classpcl_1_1_plane_clipper3_d.html#ab9550462630a027be9fb42fc250766ab">pcl::PlaneClipper3D&lt;PointT&gt;::PlaneClipper3D</a> (<span class="keyword">const</span> Eigen::Vector4f&amp; plane_params)</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;: plane_params_ (plane_params)</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;{</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;}</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<a class="code" href="classpcl_1_1_plane_clipper3_d.html">pcl::PlaneClipper3D&lt;PointT&gt;::~PlaneClipper3D</a> () throw ()</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;}</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classpcl_1_1_plane_clipper3_d.html#a114777afdfae47c56465f4fc5bfe51b9">   52</a></span>&#160;<a class="code" href="classpcl_1_1_plane_clipper3_d.html#a114777afdfae47c56465f4fc5bfe51b9">pcl::PlaneClipper3D&lt;PointT&gt;::setPlaneParameters</a> (<span class="keyword">const</span> Eigen::Vector4f&amp; plane_params)</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;{</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  plane_params_ = plane_params;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;}</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">const</span> Eigen::Vector4f&amp;</div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classpcl_1_1_plane_clipper3_d.html#a12b2a1afde804f3deef4796f7c6177bc">   58</a></span>&#160;<a class="code" href="classpcl_1_1_plane_clipper3_d.html#a12b2a1afde804f3deef4796f7c6177bc">pcl::PlaneClipper3D&lt;PointT&gt;::getPlaneParameters</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="keywordflow">return</span> plane_params_;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;}</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <a class="code" href="classpcl_1_1_clipper3_d.html">pcl::Clipper3D&lt;PointT&gt;</a>*</div>
<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classpcl_1_1_plane_clipper3_d.html#a77b4dcb8aeca3447eb5e745b5f9d7565">   64</a></span>&#160;<a class="code" href="classpcl_1_1_plane_clipper3_d.html#a77b4dcb8aeca3447eb5e745b5f9d7565">pcl::PlaneClipper3D&lt;PointT&gt;::clone</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">new</span> <a class="code" href="classpcl_1_1_plane_clipper3_d.html">PlaneClipper3D&lt;PointT&gt;</a> (plane_params_);</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;}</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">float</span></div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<a class="code" href="classpcl_1_1_plane_clipper3_d.html">pcl::PlaneClipper3D&lt;PointT&gt;::getDistance</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point)<span class="keyword"> const</span></div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keywordflow">return</span> (plane_params_[0] * point.x + plane_params_[1] * point.y + plane_params_[2] * point.z + plane_params_[3]);</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;}</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classpcl_1_1_plane_clipper3_d.html#a37495773a941df125aa63b3b652c2849">   76</a></span>&#160;<a class="code" href="classpcl_1_1_plane_clipper3_d.html#a37495773a941df125aa63b3b652c2849">pcl::PlaneClipper3D&lt;PointT&gt;::clipPoint3D</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point)<span class="keyword"> const</span></div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <span class="keywordflow">return</span> ((plane_params_[0] * point.x + plane_params_[1] * point.y + plane_params_[2] * point.z ) &gt;= -plane_params_[3]);</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;}</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classpcl_1_1_plane_clipper3_d.html#a7af74c2a1e87b07013fc984ff7127870">   85</a></span>&#160;<a class="code" href="classpcl_1_1_plane_clipper3_d.html#a7af74c2a1e87b07013fc984ff7127870">pcl::PlaneClipper3D&lt;PointT&gt;::clipLineSegment3D</a> (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point1, <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point2)<span class="keyword"> const</span></div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <span class="keywordtype">float</span> dist1 = getDistance (point1);</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keywordtype">float</span> dist2 = getDistance (point2);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="keywordflow">if</span> (dist1 * dist2 &gt; 0) <span class="comment">// both on same side of the plane -&gt; nothing to clip</span></div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <span class="keywordflow">return</span> (dist1 &gt; 0); <span class="comment">// true if both are on positive side, thus visible</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="keywordtype">float</span> lambda = dist2 / (dist2 - dist1);</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="comment">// get the plane intersecion</span></div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> intersection;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  intersection.x = (point1.x - point2.x) * lambda + point2.x;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  intersection.y = (point1.y - point2.y) * lambda + point2.y;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  intersection.z = (point1.z - point2.z) * lambda + point2.z;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="comment">// point1 is visible, point2 not =&gt; point2 needs to be replaced by intersection</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  if (dist1 &gt;= 0)</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    point2 = intersection;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    point1 = intersection;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;}</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classpcl_1_1_plane_clipper3_d.html#a55c6f91964250ec0ac58f912c50ea1cf">  114</a></span>&#160;<a class="code" href="classpcl_1_1_plane_clipper3_d.html#a87ae6cf77ea8a9b07bb196cf9bd1c341">pcl::PlaneClipper3D&lt;PointT&gt;::clipPlanarPolygon3D</a> (<span class="keyword">const</span> std::vector&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, Eigen::aligned_allocator&lt;PointT&gt; &gt;&amp; polygon, std::vector&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, Eigen::aligned_allocator&lt;PointT&gt; &gt;&amp; clipped_polygon)<span class="keyword"> const</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  clipped_polygon.clear ();</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  clipped_polygon.reserve (polygon.size ());</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  <span class="comment">// test for degenerated polygons</span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  <span class="keywordflow">if</span> (polygon.size () &lt; 3)</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  {</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="keywordflow">if</span> (polygon.size () == 1)</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    {</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      <span class="comment">// point outside clipping area ?</span></div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      <span class="keywordflow">if</span> (clipPoint3D (polygon [0]))</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        clipped_polygon.push_back (polygon [0]);</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    }</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (polygon.size () == 2)</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    {</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      clipped_polygon.push_back (polygon [0]);</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      clipped_polygon.push_back (polygon [1]);</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <span class="keywordflow">if</span> (!clipLineSegment3D (clipped_polygon [0], clipped_polygon [1]))</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        clipped_polygon.clear ();</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    }</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  }</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  <span class="keywordtype">float</span> previous_distance = getDistance (polygon [0]);</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  <span class="keywordflow">if</span> (previous_distance &gt; 0)</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    clipped_polygon.push_back (polygon [0]);</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  <span class="keyword">typename</span> std::vector&lt;PointT, Eigen::aligned_allocator&lt;PointT&gt; &gt;::const_iterator prev_it = polygon.begin ();</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::vector&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, Eigen::aligned_allocator&lt;PointT&gt; &gt;::const_iterator pIt = prev_it + 1; pIt != polygon.end (); prev_it = pIt++)</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  {</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    <span class="comment">// if we intersect plane</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <span class="keywordtype">float</span> distance = getDistance (*pIt);</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <span class="keywordflow">if</span> (distance * previous_distance &lt; 0)</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    {</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      <span class="keywordtype">float</span> lambda = distance / (distance - previous_distance);</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> intersection;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      intersection.x = (prev_it-&gt;x - pIt-&gt;x) * lambda + pIt-&gt;x;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      intersection.y = (prev_it-&gt;y - pIt-&gt;y) * lambda + pIt-&gt;y;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      intersection.z = (prev_it-&gt;z - pIt-&gt;z) * lambda + pIt-&gt;z;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      clipped_polygon.push_back (intersection);</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    }</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <span class="keywordflow">if</span> (distance &gt; 0)</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      clipped_polygon.push_back (*pIt);</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    previous_distance = distance;</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  }</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;}</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="classpcl_1_1_plane_clipper3_d.html#a87ae6cf77ea8a9b07bb196cf9bd1c341">  171</a></span>&#160;<a class="code" href="classpcl_1_1_plane_clipper3_d.html#a87ae6cf77ea8a9b07bb196cf9bd1c341">pcl::PlaneClipper3D&lt;PointT&gt;::clipPlanarPolygon3D</a> (std::vector&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, Eigen::aligned_allocator&lt;PointT&gt; &gt; &amp;polygon)<span class="keyword"> const</span></div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  std::vector&lt;PointT, Eigen::aligned_allocator&lt;PointT&gt; &gt; clipped;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  clipPlanarPolygon3D (polygon, clipped);</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  polygon = clipped;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;}</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;<span class="comment">// /ToDo: write fast version using eigen map and single matrix vector multiplication, that uses advantages of eigens SSE operations.</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00180"></a><span class="lineno"><a class="line" href="classpcl_1_1_plane_clipper3_d.html#aaac8ed63813f1c33ab272745dcc69bfa">  180</a></span>&#160;<a class="code" href="classpcl_1_1_plane_clipper3_d.html#aaac8ed63813f1c33ab272745dcc69bfa">pcl::PlaneClipper3D&lt;PointT&gt;::clipPointCloud3D</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a>&amp; cloud_in, std::vector&lt;int&gt;&amp; clipped, <span class="keyword">const</span> std::vector&lt;int&gt;&amp; indices)<span class="keyword"> const</span></div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  <span class="keywordflow">if</span> (indices.empty ())</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  {</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    clipped.reserve (cloud_in.size ());</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="comment">/*</span></div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;<span class="comment">#if 0</span></div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;<span class="comment">    Eigen::MatrixXf points = cloud_in.getMatrixXfMap (4, sizeof (PointT) / sizeof (float), offsetof(PointT,x) / sizeof (float));</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;<span class="comment">    Eigen::VectorXf distances = plane_params_.transpose () * points;</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;<span class="comment">    for (register unsigned rIdx = 0; rIdx &lt; cloud_in.size (); ++ rIdx)</span></div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;<span class="comment">    {</span></div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;<span class="comment">      if (distances (rIdx, 0) &gt;= -plane_params_[3])</span></div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;<span class="comment">        clipped.push_back (rIdx);</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;<span class="comment">    }</span></div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;<span class="comment">#else</span></div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;<span class="comment">    Eigen::Matrix4Xf points (4, cloud_in.size ());</span></div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;<span class="comment">    for (register unsigned rIdx = 0; rIdx &lt; cloud_in.size (); ++ rIdx)</span></div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;<span class="comment">    {</span></div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;<span class="comment">      points (0, rIdx) = cloud_in[rIdx].x;</span></div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;<span class="comment">      points (1, rIdx) = cloud_in[rIdx].y;</span></div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;<span class="comment">      points (2, rIdx) = cloud_in[rIdx].z;</span></div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;<span class="comment">      points (3, rIdx) = 1;</span></div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;<span class="comment">    }</span></div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;<span class="comment">    Eigen::VectorXf distances = plane_params_.transpose () * points;</span></div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;<span class="comment">    for (register unsigned rIdx = 0; rIdx &lt; cloud_in.size (); ++ rIdx)</span></div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;<span class="comment">    {</span></div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;<span class="comment">      if (distances (rIdx, 0) &gt;= 0)</span></div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;<span class="comment">        clipped.push_back (rIdx);</span></div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;<span class="comment">    }</span></div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;<span class="comment">#endif</span></div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;<span class="comment">    //cout &lt;&lt; &quot;points   : &quot; &lt;&lt; points.rows () &lt;&lt; &quot; x &quot; &lt;&lt; points.cols () &lt;&lt; &quot; * &quot; &lt;&lt; plane_params_.transpose ().rows () &lt;&lt; &quot; x &quot; &lt;&lt; plane_params_.transpose ().cols () &lt;&lt; endl;</span></div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;<span class="comment">    //cout &lt;&lt; &quot;distances: &quot; &lt;&lt; distances.rows () &lt;&lt; &quot; x &quot; &lt;&lt; distances.cols () &lt;&lt; endl;</span></div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;<span class="comment">    /*/</span></div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">register</span> <span class="keywordtype">unsigned</span> pIdx = 0; pIdx &lt; cloud_in.size (); ++pIdx)</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      <span class="keywordflow">if</span> (clipPoint3D (cloud_in[pIdx]))</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        clipped.push_back (pIdx);</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    <span class="comment">//*/</span></div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  }</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  {</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    <span class="keywordflow">for</span> (std::vector&lt;int&gt;::const_iterator iIt = indices.begin (); iIt != indices.end (); ++iIt)</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      <span class="keywordflow">if</span> (clipPoint3D (cloud_in[*iIt]))</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;        clipped.push_back (*iIt);</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  }</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;}</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;<span class="preprocessor">#endif </span><span class="comment">//PCL_FILTERS_IMPL_PLANE_CLIPPER3D_HPP</span></div>
<div class="ttc" id="aclasspcl_1_1_clipper3_d_html"><div class="ttname"><a href="classpcl_1_1_clipper3_d.html">pcl::Clipper3D</a></div><div class="ttdoc">Base class for 3D clipper objects</div><div class="ttdef"><b>Definition:</b> clipper3D.h:53</div></div>
<div class="ttc" id="aclasspcl_1_1_plane_clipper3_d_html"><div class="ttname"><a href="classpcl_1_1_plane_clipper3_d.html">pcl::PlaneClipper3D</a></div><div class="ttdoc">Implementation of a plane clipper in 3D</div><div class="ttdef"><b>Definition:</b> plane_clipper3D.h:51</div></div>
<div class="ttc" id="aclasspcl_1_1_plane_clipper3_d_html_a114777afdfae47c56465f4fc5bfe51b9"><div class="ttname"><a href="classpcl_1_1_plane_clipper3_d.html#a114777afdfae47c56465f4fc5bfe51b9">pcl::PlaneClipper3D::setPlaneParameters</a></div><div class="ttdeci">void setPlaneParameters(const Eigen::Vector4f &amp;plane_params)</div><div class="ttdoc">Set new plane parameters</div><div class="ttdef"><b>Definition:</b> plane_clipper3D.hpp:52</div></div>
<div class="ttc" id="aclasspcl_1_1_plane_clipper3_d_html_a12b2a1afde804f3deef4796f7c6177bc"><div class="ttname"><a href="classpcl_1_1_plane_clipper3_d.html#a12b2a1afde804f3deef4796f7c6177bc">pcl::PlaneClipper3D::getPlaneParameters</a></div><div class="ttdeci">const Eigen::Vector4f &amp; getPlaneParameters() const</div><div class="ttdoc">return the current plane parameters</div><div class="ttdef"><b>Definition:</b> plane_clipper3D.hpp:58</div></div>
<div class="ttc" id="aclasspcl_1_1_plane_clipper3_d_html_a37495773a941df125aa63b3b652c2849"><div class="ttname"><a href="classpcl_1_1_plane_clipper3_d.html#a37495773a941df125aa63b3b652c2849">pcl::PlaneClipper3D::clipPoint3D</a></div><div class="ttdeci">virtual bool clipPoint3D(const PointT &amp;point) const</div><div class="ttdoc">interface to clip a single point</div><div class="ttdef"><b>Definition:</b> plane_clipper3D.hpp:76</div></div>
<div class="ttc" id="aclasspcl_1_1_plane_clipper3_d_html_a77b4dcb8aeca3447eb5e745b5f9d7565"><div class="ttname"><a href="classpcl_1_1_plane_clipper3_d.html#a77b4dcb8aeca3447eb5e745b5f9d7565">pcl::PlaneClipper3D::clone</a></div><div class="ttdeci">virtual Clipper3D&lt; PointT &gt; * clone() const</div><div class="ttdoc">polymorphic method to clone the underlying clipper with its parameters.</div><div class="ttdef"><b>Definition:</b> plane_clipper3D.hpp:64</div></div>
<div class="ttc" id="aclasspcl_1_1_plane_clipper3_d_html_a7af74c2a1e87b07013fc984ff7127870"><div class="ttname"><a href="classpcl_1_1_plane_clipper3_d.html#a7af74c2a1e87b07013fc984ff7127870">pcl::PlaneClipper3D::clipLineSegment3D</a></div><div class="ttdeci">virtual bool clipLineSegment3D(PointT &amp;from, PointT &amp;to) const</div><div class="ttdef"><b>Definition:</b> plane_clipper3D.hpp:85</div></div>
<div class="ttc" id="aclasspcl_1_1_plane_clipper3_d_html_a87ae6cf77ea8a9b07bb196cf9bd1c341"><div class="ttname"><a href="classpcl_1_1_plane_clipper3_d.html#a87ae6cf77ea8a9b07bb196cf9bd1c341">pcl::PlaneClipper3D::clipPlanarPolygon3D</a></div><div class="ttdeci">virtual void clipPlanarPolygon3D(std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; &amp;polygon) const</div><div class="ttdef"><b>Definition:</b> plane_clipper3D.hpp:171</div></div>
<div class="ttc" id="aclasspcl_1_1_plane_clipper3_d_html_aaac8ed63813f1c33ab272745dcc69bfa"><div class="ttname"><a href="classpcl_1_1_plane_clipper3_d.html#aaac8ed63813f1c33ab272745dcc69bfa">pcl::PlaneClipper3D::clipPointCloud3D</a></div><div class="ttdeci">virtual void clipPointCloud3D(const pcl::PointCloud&lt; PointT &gt; &amp;cloud_in, std::vector&lt; int &gt; &amp;clipped, const std::vector&lt; int &gt; &amp;indices=std::vector&lt; int &gt;()) const</div><div class="ttdoc">interface to clip a point cloud</div><div class="ttdef"><b>Definition:</b> plane_clipper3D.hpp:180</div></div>
<div class="ttc" id="aclasspcl_1_1_plane_clipper3_d_html_ab9550462630a027be9fb42fc250766ab"><div class="ttname"><a href="classpcl_1_1_plane_clipper3_d.html#ab9550462630a027be9fb42fc250766ab">pcl::PlaneClipper3D::PlaneClipper3D</a></div><div class="ttdeci">PlaneClipper3D(const Eigen::Vector4f &amp;plane_params)</div><div class="ttdoc">Constructor taking the homogeneous representation of the plane as a Eigen::Vector4f</div><div class="ttdef"><b>Definition:</b> plane_clipper3D.hpp:41</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="dir_44e6750c3ba91f897faed10628147690.html">filters</a></li><li class="navelem"><a class="el" href="dir_95c17ef4f105c38f1bca096e54227aec.html">include</a></li><li class="navelem"><a class="el" href="dir_fe73964e53ed04dff1d72b4679c9e201.html">pcl</a></li><li class="navelem"><a class="el" href="dir_cbecde0f1c13abe661f13960a6611faf.html">filters</a></li><li class="navelem"><a class="el" href="dir_655988a3903cd32a7040b7f90964c1fe.html">impl</a></li><li class="navelem"><b>plane_clipper3D.hpp</b></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
